CN107045343B - AGV traffic control method and system - Google Patents
AGV traffic control method and system Download PDFInfo
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- CN107045343B CN107045343B CN201611262971.9A CN201611262971A CN107045343B CN 107045343 B CN107045343 B CN 107045343B CN 201611262971 A CN201611262971 A CN 201611262971A CN 107045343 B CN107045343 B CN 107045343B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses an AGV traffic control method, which comprises the following steps that 1) when an AGV runs into an intersection, station card information at the entrance of the intersection is read; 2) judging the current state of the station card according to the read station card information, if the station card information is in a locking state, executing the step 3), and if the station card information is in a non-locking state, executing the step 4); 3) stopping the AGV, acquiring station card information at an entrance of the intersection according to a set frequency, and returning to step 2); 4) the AGV runs through the intersection according to a set route, and defines the states of all the station cards of the intersection as locking; 5) and when the AGV exits the intersection, defining the states of all the station cards of the intersection as non-locking. The method has the advantages that the method is wide in application range, control cards do not need to be arranged independently, the control cards can be deployed together with the station cards, the problem that unlocking cannot be carried out at the cross position due to signals and the like can be effectively solved, and the reliability and the stability of AGV traffic control are guaranteed due to the fact that the control method is simple.
Description
Technical Field
The present invention relates to the field of traffic control.
Background
An Automatic Guided Vehicle (AGV) is a transport vehicle equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and requiring no driver's transport vehicle in industrial application, and is a common industrial device, and the AGV industry has a great development prospect with the improvement of the automation degree of a factory. However, since there are many AGVs in the factory, the AGVs running straight can realize a good obstacle avoidance effect by the obstacle avoidance sensor without collision, but the magnetic tracks are complicated in a staggered manner, the AGVs at the intersection are relatively complicated to control, and some AGVs need to run in multiple directions, so that it is a very tricky and difficult thing to enable the AGVs to run in order according to the unified traffic rules.
Generally, in order to solve the problem, a unified scheduling system of an upper computer is generally used, the unified scheduling system, a vehicle-mounted control system of the AGVs and a communication system work in a unified and coordinated mode, and normal work of the AGVs can be achieved without collision.
For example, the published patent application No. 201610055696.7, the patent name "an autonomous traffic control method and apparatus for AGVs", and AGVs "are intended to provide a solution to the problem that the corresponding control signal cannot be received due to the signal problem at the corner, so that the control cannot be handed over, but the problem that the unlocking information cannot be received due to the signal problem cannot be solved, and in the same way, the AGVs stay at the traffic control for a long time, which affects the use efficiency of the factory.
Such as the published patent application, application No. 201410265253.1, entitled AGV dispatch system, also provides a solution to the problem of AGV traffic management. However, this method is effective only for three-way and two-way crossings, and is not applicable to four-way crossings, and cannot provide an AGV that is released according to a certain rule, and a bidirectional AGV cannot be applied.
Disclosure of Invention
The invention aims to solve the technical problem of realizing an AGV traffic control method which is wide in application range, stable in operation and simple and reliable in control method.
In order to achieve the purpose, the technical scheme adopted by the invention is an AGV traffic control method which comprises the following steps:
1) when the AGV runs into the intersection, reading station card information at the entrance of the intersection;
2) judging the current state of the station card according to the read station card information, if the station card information is in a locking state, executing the step 3), and if the station card information is in a non-locking state, executing the step 4);
3) stopping the AGV, acquiring station card information at an entrance of the intersection according to a set frequency, and returning to step 2);
4) the AGV runs through the intersection according to a set route, and defines the states of all the station cards of the intersection as locking;
5) and when the AGV exits the intersection, defining the states of all the station cards of the intersection as non-locking.
And 3) writing the serial number and the stop time of the stopped AGV into the station card, and adding one to the waiting number at the intersection of the station card.
And when the number of the AGVs waiting at the intersection exceeds 1, enabling the AGVs to exit the intersection according to a preset judgment rule sequence.
The judgment rule comprises a priority principle and a time principle; priority principle: each AGV number is provided with a priority level, when the priority level is higher than other AGVs, the time principle is ignored, the AGV with the high priority level firstly drives out of the intersection, and if a plurality of AGVs with the same priority level and high level exist, the AGV with the high level is released according to the time principle; time principle: AGVs with earlier stop times are advanced.
And 4) when the AGV exits the intersection, filling the AGV number of the current exit intersection on the station card, and then emptying the information of the AGV number in the station card, wherein the information comprises the AGV number and the stop moment.
When the two station cards have the same AGV number, the information of the AGV in the station card with the early filling time is emptied, and if the station card with the emptied information is in a locking state due to the AGV number, the station card is unlocked.
When the AGV traffic line is a bidirectional passing line, two sides of each intersection are respectively provided with a station card, and the AGV only reads the station card information of the intersection at one passing side.
A card reader for reading station card information is arranged on each AGV vehicle, the card reader is communicated with a control system for general dispatching through a wireless communication device, and station cards with the same quantity as fork cards are arranged at each crossing of an AGV path area.
When the AGV traffic line is a bidirectional traffic line, two sides of each intersection are respectively provided with a station card.
The method has the advantages that the method is wide in application range, not only is suitable for one-way AGV and is also suitable for two-way AGV, but also can process traffic scheduling of turning turnouts, three-way turnouts and four-way turnouts.
Drawings
The following is a brief description of the contents of each figure in the description of the present invention:
FIG. 1 is a flow chart of an AGV traffic control method;
FIG. 2 is a functional block diagram of a system for performing an AGV traffic control method;
FIG. 3 is a diagram of a simulated factory AGV driving route.
Detailed Description
As shown in fig. 2, each AGV is provided with a card reader for reading station card information, signal transmission is realized between the scheduling system and the card reader of the AGV in a wireless manner, that is, the card reader communicates with a control system for total scheduling through a wireless communication device, a control instruction of the AGV is obtained through the scheduling system, and the scheduling system can perform remote operations such as forward, backward, stop, and reset of the AGV.
Station cards with the same number as the turnouts are arranged at each intersection in the AGV traveling area, the intersections can be curves (two-turnout intersections), three-turnout intersections, four-turnout intersections and the like, one station card is arranged at the driving inlet of each intersection, namely two station cards are arranged at the curves, three station cards are arranged at the three-turnout intersections, and four station cards are arranged at the four-turnout intersections. When the AGV traffic line is a bidirectional traffic line, two sides of each intersection are respectively provided with one station card, so that four station cards are arranged on a bend, six station cards are arranged at a three-branch intersection, eight station cards are arranged at a four-branch intersection, and the eight station cards correspond to different AGV's which come upwards.
The information recorded by each station card comprises: the crossing number, the locking card 1, the locking card 2, the locking card 3, whether to lock, the card 1 time, the card 2 time, the card 3 time, the card 1 corresponding to the AGV number, the card 2 corresponding to the AGV number, the card 3 corresponding to the AGV number, the crossing number being passed through, and the crossing waiting number.
Based on the above system, as shown in fig. 1, the AGV traffic control method is as follows:
1) when the AGV runs into the intersection, reading station card information at the entrance of the intersection;
2) judging the current state of the station card according to the read station card information, if the station card information is in a locking state, executing the step 3), and if the station card information is in a non-locking state, executing the step 4);
3) the AGV stops, station card information at the entrance of the intersection is obtained according to the set frequency, meanwhile, the AGV number and the stop time are written into the station cards, the waiting number at the intersection of the station cards is increased by one, and the waiting number is returned to 2);
and if the station card information obtained in the step 2) is in a non-locking state, and when the number of the AGVs waiting at the intersection exceeds 1, enabling the AGVs to exit the intersection according to a preset judgment rule sequence.
The judgment rule comprises a priority principle and a time principle; priority principle: each AGV number is provided with a priority level, when the priority level is higher than other AGVs, the time principle is ignored, the AGV with the high priority level firstly drives out of the intersection, and if a plurality of AGVs with the same priority level and high level exist, the AGV with the high level is released according to the time principle; time principle: AGVs with earlier stop times are advanced.
4) When the AGV exits the intersection, filling an AGV number of the current exiting intersection on the station card, and then emptying information of the AGV number in the station card, wherein the information comprises the AGV number and the stop moment;
5) and when the AGV exits the intersection, defining the states of all the station cards of the intersection as non-locking.
In order to avoid crossing blockage caused by abnormal card reading, when the two station cards have the same AGV number, the information of the AGV in the station card with early filling time is emptied, and if the station card with the emptied information is in a locking state due to the AGV number, the station card is unlocked, so that corresponding crossing can be released at any point, and the passing reliability of the crossing is ensured.
The system and the method can realize the traffic control according to the corresponding station card number, do not need to independently set the traffic control card, and do not need to carry out fragment processing on the site. The process and method of use of the method of the present invention is described by the schematic representation of a minimum closure path including two-way turns, three-way turns, and four-way intersections, as shown in fig. 3.
Firstly, confirming that a turn 3, a four-way 8 and a three-way 15 (only three ways are selected for convenience of description) are arranged under a path, each way needs to maintain a table 1, corresponding station cards are arranged near the ways, the station cards can replace pipe-crossing cards in the method, the pipe-crossing cards do not need to be arranged, locking cards are arranged at the four ways 8 corresponding to the table 1 and are 7, 9 and 10, the way numbers are arranged and are 8, and the other ways are emptied.
At turn 3, corresponding to table 1, set No. 2 as the lock card, the road junction number as 3, and clear others. The same is true for the fork 15, setting the corresponding port number in table 1 to 15, the lock card 1 to 17, and the others to clear.
And secondly, when the AGV trolley 6 reads the card 7 in the running process, the intersection number is searched to be 8, whether the intersection 8 corresponding to the intersection in the table 1 is locked or not is judged, if no locking is found, the AGV trolley continues to run, the crossing corresponding to the intersection No. 8 in the table 1 is set to pass through the intersection AGV number 6, the intersection in the table 1 is set to be in a locking state, and the others continue.
And thirdly, if the AGV 1 reaches the point 7 in the process of driving the intersection, the AGV 1 inquires that the intersection state is locked, the travel is stopped, the card 1 reading time corresponding to the locking card 1 is set in the corresponding table 1, the AGV numbers corresponding to the cards 1 are set to be 1, the number of the AGV is waited to be 1, and the AGV 6 is waited until the road section is driven.
At this time, if AGV No. 13 arrives at intersection No. 9, it is determined that this intersection No. 8 is locked, and card reading time 2 corresponding to the locking card 2 is set in correspondence table 1, and AGV number 13 corresponding to card 2 is set, and the waiting AGV number is 2, and waiting AGV No. 6 is completed until the road section is traveled.
At this time, if No. 18 AGVs reach No. 10 intersection, it is determined that No. 8 intersection is locked, the card reading time 3 corresponding to the locking card 3 is set in the correspondence table 1, the AGV number corresponding to the card 3 is set to 18, the number of waiting AGVs is 3, and No. 6 AGVs are waited until the road section is completely driven.
Fourthly, when the 6 AGV runs to the 20 th position, if the 20 th position card number is read, the dispatching system is informed to unlock the traffic intersection, in the corresponding table 1, the crossing AGV numbers are cleared, and at the same time, the dispatching system checks the number of AGV waiting at the corresponding crossing, if zero, no processing is performed, if not 0, if there is only one car, the AGVs are released directly according to the AGV numbers corresponding to the card 1, the card 2 or the card 3, if there are two or more vehicles, the AGV that should be released is judged according to the corresponding rule, if it is the first in first out, the corresponding vehicle is released according to the time of reading card stored in table 1, if it is the big size first principle, the AGVs with the corresponding numbers are released by comparing the corresponding cards in table 1 with the corresponding AGV numbers, and the AGVs with high priority are suggested to be artificially set with larger numbers, so that the prior release with high priority can be realized.
When the AGV runs to the position of No. 5 or any other position to connect with the dispatching system, the dispatching system will check whether the fork corresponding to the car 6 is locked, and if so, the corresponding AGV is released according to the above principle. Therefore, the corresponding crossing can be released at any point, and the control right of the crossing can be released only at the point 4 instead of being fixed.
Similarly, when turning the intersection, similar to the four-way intersection, the locking card 1 and the intersection number are set in the correspondence table 1, and the numerical value corresponding to the locking card and the intersection number is set at the three-way intersection, so that the requirement is the same as the actual condition when the corresponding numerical value is specifically set, otherwise, the AGV traffic management disorder can be caused.
Similarly, to explain how to realize bidirectional driving at a turnout, if bidirectional driving is to be realized at the turnout 3, the corresponding turnout number in the table 1 is set to be 3_1, which indicates that the lane can be driven in the reverse direction, and the corresponding locking card 1 is set to be card number 4, and the other rules are the same.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (8)
1. An AGV traffic control method is characterized in that:
1) when the AGV runs into the intersection, reading station card information at the entrance of the intersection;
2) judging the current state of the station card according to the read station card information, if the station card information is in a locking state, executing the step 3), and if the station card information is in a non-locking state, executing the step 4);
3) stopping the AGV, acquiring station card information at an entrance of the intersection according to a set frequency, and returning to step 2);
4) the AGV runs through the intersection according to a set route, and defines the states of all the station cards of the intersection as locking;
5) when the AGV exits the intersection, defining the states of all station cards of the intersection as non-locking;
and 3) writing the serial number and the stop time of the stopped AGV into the station card, and adding one to the waiting number at the intersection of the station card.
2. The AGV traffic control method according to claim 1, wherein: and when the number of the AGVs waiting at the intersection exceeds 1, enabling the AGVs to exit the intersection according to a preset judgment rule sequence.
3. The AGV traffic control method according to claim 2, wherein: the judgment rule comprises a priority principle and a time principle; priority principle: each AGV number is provided with a priority level, when the priority level is higher than other AGVs, the time principle is ignored, the AGV with the high priority level firstly drives out of the intersection, and if a plurality of AGVs with the same priority level and high level exist, the AGV with the high level is released according to the time principle; time principle: AGVs with earlier stop times are advanced.
4. The AGV traffic control method according to claim 1, 2 or 3, wherein: and 4) when the AGV exits the intersection, filling the AGV number of the current exit intersection on the station card, and then emptying the information of the AGV number in the station card, wherein the information comprises the AGV number and the stop moment.
5. The AGV traffic control method according to claim 4, wherein: when the two station cards have the same AGV number, the information of the AGV in the station card with the early filling time is emptied, and if the station card with the emptied information is in a locking state due to the AGV number, the station card is unlocked.
6. The AGV traffic control method according to claim 1 or 5, wherein: when the AGV traffic line is a bidirectional passing line, two sides of each intersection are respectively provided with a station card, and the AGV only reads the station card information of the intersection at one passing side.
7. A system for performing the AGV traffic control method according to any one of claims 1-6, characterized in that: the AGV dispatching system is characterized in that each AGV vehicle is provided with a card reader for reading station card information, the card reader is communicated with a control system for general dispatching through a wireless communication device, and each crossing in the AGV path area is provided with station cards with the same number as the crossings.
8. The AGV traffic control method system according to claim 7, wherein: when the AGV traffic line is a bidirectional traffic line, two sides of each intersection are respectively provided with a station card.
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